Store dummy interaction mode, fix control mode getter

roboticslab-uc3m · Jan 17, 2024 · e05e64a · e05e64a
1 parent e1bf8c4
commit e05e64a
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp b/libraries/YarpPlugins/FakeJoint/FakeJoint.hpp
@@ -130,7 +130,7 @@ class FakeJoint : public yarp::dev::DeviceDriver,
     //  --------- IControlModeRaw declarations ---------
 
     bool getControlModeRaw(int j, int * mode) override
-    { *mode = VOCAB_CM_CONFIGURED; return true; }
+    { *mode = controlMode; return true; }
     bool getControlModesRaw(int * modes) override
     { return getControlModeRaw(0, &modes[0]); }
     bool getControlModesRaw(int n_joint, const int * joints, int * modes) override
@@ -213,13 +213,13 @@ class FakeJoint : public yarp::dev::DeviceDriver,
     // ------- IInteractionModeRaw declarations -------
 
     bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum * mode) override
-    { *mode = yarp::dev::InteractionModeEnum::VOCAB_IM_UNKNOWN; return true; }
+    { *mode = interactionMode; return true; }
     bool getInteractionModesRaw(yarp::dev::InteractionModeEnum * modes) override
     { return getInteractionModeRaw(0, &modes[0]); }
     bool getInteractionModesRaw(int n_joints, int * joints, yarp::dev::InteractionModeEnum * modes) override
     { return getInteractionModeRaw(0, &modes[0]); }
     bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode) override
-    { return true; }
+    { interactionMode = mode; return true; }
     bool setInteractionModesRaw(yarp::dev::InteractionModeEnum * modes) override
     { return true; }
     bool setInteractionModesRaw(int n_joints, int * joints, yarp::dev::InteractionModeEnum * modes) override
@@ -473,6 +473,7 @@ class FakeJoint : public yarp::dev::DeviceDriver,
 private:
     std::string jointName;
     int controlMode {VOCAB_CM_CONFIGURED};
+    yarp::dev::InteractionModeEnum interactionMode {yarp::dev::VOCAB_IM_UNKNOWN};
 };
 
 } // namespace roboticslab